CN114895367B - Rock mass attitude information measuring method - Google Patents

Abstract

This application relates to a method for measuring rock mass occurrence information. The method includes: determining multiple measurement points on the target rock mass according to the location of the target rock mass; obtaining geometric parameter information of each measurement point through multiple measurement equipment with different orientations; the geometric parameter information indicates that each measurement point is separately related to each The positional relationship between measuring equipment; according to the geometric parameter information of each measuring point, determine the coordinate information of each measuring point in the three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system with the position of any one of the multiple measuring equipment as the origin. ; Determine the occurrence information of the target rock mass based on the coordinate information of each measurement point in the three-dimensional coordinate system. Using this method can reduce the measurement error of structural plane information and joint information of jointed rock mass.

Description

Rock mass occurrence information measurement method

Technical field

This application relates to the technical field of geological surveying, and in particular to a method for measuring rock mass occurrence information.

Background technique

With the continuous development of automation technology, the development and construction of slope engineering, tunnel engineering, and underground space are also developing in the direction of automation and intelligence. Among them, the construction stage of the project may cause cracks in the rock mass, leading to the occurrence of geological disasters. The main reasons for the occurrence of geological disasters are the structural damage of the rock mass, the relationship between the occurrence of the rock layer and the excavation direction, the hydrodynamic behavior of the fractures, and the water-rock Interaction etc. Therefore, the collection and analysis of structural plane information and joint information of jointed rock masses are of great significance to the safety of engineering construction.

In related technologies, on the one hand, multiple geologists use geological compasses to manually measure structural plane information and joint information of jointed rock masses. On the other hand, a three-dimensional laser scanner is used to collect the three-dimensional structural information of the jointed rock mass. By analyzing the three-dimensional structural information, the structural plane information and joint information of the jointed rock mass are obtained for measurement. However, the measurement results of the structural plane information and joint information of the jointed rock mass using the related technology methods have large errors.

Contents of the invention

Based on this, it is necessary to address the above technical problems and provide a rock mass occurrence information measurement method that can reduce the measurement error of structural plane information and joint information of jointed rock mass.

In the first aspect, this application provides a method for measuring rock mass occurrence information, which method includes:

According to the location of the target rock mass, multiple measurement points on the target rock mass are determined;

The geometric parameter information of each measuring point is obtained through multiple measuring devices with different orientations; the geometric parameter information represents the positional relationship between each measuring point and each measuring device;

According to the geometric parameter information of each measurement point, the coordinate information of each measurement point in the three-dimensional coordinate system is determined; the three-dimensional coordinate system is a coordinate system with the position of any one of the multiple measurement equipment as the origin;

According to the coordinate information of each measurement point in the three-dimensional coordinate system, the occurrence information of the target rock mass is determined.

In one embodiment, the target rock mass includes structural surfaces and joints, and determining multiple measurement points on the target rock mass includes:

According to the preset sequence, three non-collinear points are selected from the structural surface to obtain three structural surface measurement points on the structural surface; and the upper and lower endpoints and left and right endpoints are selected from the joints to obtain four joint measurement points on the joints. ;The line connecting the upper and lower endpoints is perpendicular to the line connecting the left and right endpoints.

In one embodiment, the coordinate information of each measurement point in the three-dimensional coordinate system is determined based on the geometric parameter information of each measurement point, including:

Map the three structural surface measurement points to the three-dimensional coordinate system based on the geometric parameter information of the three structural surface measurement points, and determine the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system; and,

According to the geometric parameter information of the four joint measurement points, the four joint measurement points are mapped to the three-dimensional coordinate system, and the coordinate information of the four joint measurement points in the three-dimensional coordinate system is determined.

In one embodiment, based on the geometric parameter information of the three structural surface measurement points, the three structural surface measurement points are mapped to the three-dimensional coordinate system, and the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system is determined, including :

Determine the first relative coordinate information between the three structural surface measurement points and the positions of each measuring equipment based on the geometric parameter information between the three structural surface measurement points and the positions of each measuring equipment;

According to the coordinate information of each measurement point in the three-dimensional coordinate system and the first relative coordinate information, the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system is determined.

In one embodiment, based on the geometric parameter information of the four joint measurement points, the four joint measurement points are mapped to the three-dimensional coordinate system, and the coordinate information of the four joint measurement points in the three-dimensional coordinate system is determined, including:

Determine the second relative coordinate information between the four joint measurement points and the positions of each measurement equipment based on the geometric parameter information between the four joint measurement points and the positions of each measurement equipment;

According to the coordinate information of each measurement point in the three-dimensional coordinate system and the second relative coordinate information, the coordinate information of the four joint measurement points in the three-dimensional coordinate system is determined.

In one embodiment, the occurrence information of the target rock mass is determined based on the coordinate information of each measurement point in the three-dimensional coordinate system, including:

Obtain the first plane to be measured composed of the three structural plane measurement points, and determine the origin information of the structural plane based on the coordinate information of the first plane to be measured and the three structural plane measurement points in the three-dimensional coordinate system; and,

A second plane to be measured composed of four joint measurement points is obtained, and the occurrence information of the joint is determined based on the second plane to be measured and the second plane to be measured composed of the four joint measurement points.

In one embodiment, a first plane to be measured composed of three structural plane measurement points is obtained, and based on the coordinate information of the first plane to be measured and the three structural plane measurement points in a three-dimensional coordinate system, the structural plane is determined. Occurrence information, including:

Connect the three structural plane measurement points to obtain the first plane to be measured;

Determine the first external normal vector of the first plane to be measured;

According to the first external normal vector and the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system, the occurrence information of the structural surface is determined; the occurrence information includes the inclination angle, inclination angle and strike angle of the structural surface.

In one embodiment, a second plane to be measured composed of four joint measurement points is obtained, and the occurrence information of the joint is determined based on the second plane to be measured and the second plane to be measured composed of the four joint measurement points. ,include:

Connect the four joint measurement points to obtain the second plane to be measured;

Determine the second external normal vector of the second plane to be measured;

According to the second plane to be measured composed of the second outer normal vector and the four joint measurement points, the occurrence information of the joint is determined; the occurrence information includes the inclination angle, inclination angle, strike angle, length and opening of the joint.

In one embodiment, the plurality of measuring devices include a first measuring device and a second measuring device. The first measuring device is set below the target rock mass; and the second measuring device is set above the target rock mass.

In one embodiment, the first measurement device at least includes: a ranging sensor, an angle sensor and a camera device; the distance between the camera device and the ranging sensor and the angle sensor is less than a preset threshold;

A ranging sensor is used to collect the straight-line distance between each measurement point and the location of the ranging sensor;

Angle sensor, used to collect the vertical angle between each measurement point and the position of the angle sensor;

Camera equipment is used to collect image information of target rock mass.

In the second aspect, this application also provides a rock mass occurrence information measurement device, which includes:

The first determination module is used to determine multiple measurement points on the target rock mass according to the location of the target rock mass;

The acquisition module is used to obtain the geometric parameter information of each measuring point through multiple measuring devices; the geometric parameter information represents the positional relationship between each measuring point and each measuring device;

The second determination module is used to determine the coordinate information of each measurement point in the three-dimensional coordinate system based on the geometric parameter information of each measurement point; the three-dimensional coordinate system takes the position of any one of the measurement equipment as the origin;

The third determination module is used to determine the occurrence information of the target rock mass based on the coordinate information of each measurement point in the three-dimensional coordinate system.

In a third aspect, this application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, all contents in the above method embodiments are implemented.

In a fourth aspect, this application also provides a computer-readable storage medium. A computer-readable storage medium has a computer program stored thereon. When the computer program is executed by a processor, all the contents in the above method embodiments are implemented.

In a fifth aspect, this application also provides a computer program product. The computer program product includes a computer program. When the computer program is executed by a processor, all the contents in the above method embodiments are implemented.

The above-mentioned rock mass occurrence information measurement method determines multiple measurement points on the target rock mass based on the location of the target rock mass, and obtains geometric parameter information of each measurement point through multiple measuring devices with different orientations; geometric parameter information representation The positional relationship between each measuring point and each measuring device is determined based on the geometric parameter information of each measuring point. The coordinate information of each measuring point in the three-dimensional coordinate system is determined. According to the coordinate information of each measuring point in the three-dimensional coordinate system, Determine the occurrence information of the target rock mass. The three-dimensional coordinate system in this method is a coordinate system with the position of any one of multiple measuring devices as the origin. Multiple measuring devices with different orientations can more accurately collect geometric parameter information of each measuring point, avoiding the need for The blind area of the measuring equipment cannot be collected, so that the coordinate information of each measuring point in the three-dimensional coordinate system can be accurately determined, and then the occurrence information of the target rock mass can be determined based on the coordinate information.

Description of the drawings

Figure 1 is an application environment diagram of the rock mass occurrence information measurement method in one embodiment;

Figure 2 is a schematic flow chart of a method for measuring rock mass occurrence information in one embodiment;

Figure 3 is a schematic structural diagram of the first measurement device in one embodiment;

Figure 4 shows the coordinate information of a measurement point in a three-dimensional coordinate system in one embodiment;

Figure 5 is a schematic flow chart of a method for measuring rock mass occurrence information in one embodiment;

Figure 6 is a schematic flow chart of a method for measuring rock mass occurrence information in one embodiment;

Figure 7 is a schematic flow chart of a method for measuring rock mass occurrence information in one embodiment;

Figure 8 shows the coordinate information of the measurement point in the three-dimensional coordinate system in one embodiment;

Figure 9 is a schematic flow chart of a method for measuring rock mass occurrence information in one embodiment;

Figure 10 is a schematic flow chart of a method for measuring rock mass occurrence information in one embodiment;

Figure 11 is a rock mass occurrence information measurement system composed of multiple measurement devices in one embodiment;

Figure 12 is a plan view of the boring machine measured in one embodiment;

Figure 13 is a schematic flow chart of a device for measuring rock mass occurrence information in one embodiment;

Figure 14 is an internal structure diagram of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

First, before introducing the technical solutions of the embodiments of the present application in detail, the technical background on which the embodiments of the present application are based will be introduced.

In recent years, the development and construction of slope engineering, tunnel engineering, and underground space are developing in the direction of automation and intelligence. Among them, the construction stage of the project may induce geological disasters in jointed rock masses, mainly due to damage to the rock mass structure, It is caused by the relationship between the occurrence of rock formations and the direction of excavation, the hydrodynamic behavior of fractures, and the interaction between water and rock. Moreover, the geological investigation of dangerous rock masses, the stability evaluation during construction, and the safety monitoring during the operation and maintenance phase of the project all require the analysis of jointed rock. Information collection and statistical analysis of structural planes are carried out. Therefore, the rapid collection and analysis of joint information is of great significance to the safety and efficiency of engineering construction.

The geological hazard assessment of dangerous rock mass, the safety assessment of the surrounding rock of the tunnel face, and the safety feedback analysis of the tunnel boring machine (TBM) on the excavation of the working face all require the analysis of the fractured rock mass structure on the surface of the rock mass and surrounding rock. Detailed and fast contact-free measurements are required prior to analysis, maximizing efficiency and minimizing cost. The traditional measurement method requires a large number of geologists to measure the jointed rock mass through a geological compass, which is not only time-consuming and labor-intensive, but also has extremely high labor costs. It also requires high requirements for the size of the measurement surface and the professional skills of the surveyors. At the same time, the geological compass is affected by the magnetism of minerals. There is serious interference with the geomagnetic field, resulting in many errors in measurement. Geologists can also use a 3D laser scanner to photograph and collect the 3D structural information of jointed rock masses to achieve the purpose of non-contact measurement of jointed rock masses, but this takes a long time, extremely high equipment costs, and is dependent on the working environment. Large, accurate information cannot be collected when the environment contains weeds, fog, dust, dimness and electromagnetic noise, and the measurement accuracy of jointed rock mass using a 3D laser scanner is not high.

The measurement of the structural plane of jointed rock mass includes information on the occurrence of rock formations formed by sedimentation and diagenesis. The formation information of rock formations includes direction, inclination and inclination; the occurrence information of rock mass joints formed under the influence of diagenetic processes and tectonic processes. Occurrence information includes length, opening, inclination and inclination. Some scholars have proposed using a close-range shooting system to measure the joint information of rock slopes, but this requires constantly moving the camera and measuring a large number of parameters with a tape measure. Among them, the measurement errors caused by human moving equipment are extremely large; some scholars use binocular non-contact structures Although the surface measurement method solves the error caused by mobile devices, the statistics of joint information is limited by the binocular field of view and has a large number of blind spots. It is difficult to obtain the appearance of each structural surface and joints, and the measurement calculation is based on image information. Therefore, As a result, a large amount of measured inclination information is the apparent inclination angle, which will bring huge deviations to the surrounding rock stability analysis results.

The rock mass occurrence information measurement method provided by the embodiment of the present application can be applied in the application environment as shown in Figure 1. The application environment may include multiple measurement devices 1 and computer devices 2, wherein the multiple measurement devices 1 communicate with the computer device 2 through the network respectively. Multiple measuring devices 1 transmit the acquired geometric parameter information of each measuring point to the computer device 2. The computer device 2 determines the occurrence information of the target rock mass based on the geometric parameter information of each measuring point. Wherein, the computer device includes a processor, a memory and a network interface connected through a system bus. The computer device can be implemented as an independent computer device or a computer device cluster composed of multiple computer devices.

In one embodiment, as shown in Figure 2, a method for measuring rock mass occurrence information is provided. This method is explained by taking the method applied to the computer equipment in Figure 1 as an example, and includes the following steps:

S201: Determine multiple measurement points on the target rock mass according to the location of the target rock mass.

Among them, rock mass refers to a geological body with discontinuity, heterogeneity and anisotropy composed of various types of rocks containing weak structural surfaces within a certain engineering scope.

Specifically, before measuring the target rock mass, geologists need to determine the location of the target rock mass in advance. After the location of the target rock mass is determined, multiple cameras can be used to collect images of the target rock mass from different angles, or a single camera can be used to continuously change the position to collect images of the target rock mass from different angles. Images from different angles are sent to the computer device. Optionally, the computer device can determine the surface shape and size of the target rock mass based on images from different angles of the target rock mass, and determine multiple measurement points on the target rock mass based on the shape and size of the target rock mass. For example, when the surface shape of the target rock mass is a triangle, select the three vertices of the triangle as the measurement points on the target rock mass; when the surface shape of the target rock mass is a quadrilateral, select the four vertices of the quadrilateral as the measurement points on the target rock mass. measuring point. Optionally, the computer device can fuse images of the target rock mass from different angles to obtain a panoramic image of the target rock mass. Based on the panoramic image of the target rock mass, select three non-collinear measurement points on the target rock mass, and then The measurement points are determined as multiple measurement points on the target rock mass. This embodiment does not limit the method of determining multiple measurement points on the target rock mass based on the location of the target rock mass.

S202: Obtain geometric parameter information of each measurement point through multiple measurement devices with different orientations; the geometric parameter information represents the positional relationship between each measurement point and each measurement device.

Among them, a plurality of measuring devices with different orientations include a first measuring device and a second measuring device. The first measuring device is set below the target rock mass; and the second measuring device is set above the target rock mass. The first measurement device at least includes: a distance sensor, an angle sensor and a camera device.

Further, Figure 3 is a schematic structural diagram of the first measurement equipment. The first measurement equipment in the figure includes a distance sensor 1, an angle sensor 2, a camera device 3, a fixed pan/tilt 4, a pan/tilt rotating dial 5, and electronic magnetic needle coordinates. Calibration dial 6 and moving rod 7, etc., the distance between the camera equipment 3 and the distance sensor 1 and the angle sensor 2 respectively is less than the preset threshold; the distance sensor 1 is used to collect the relationship between each measurement point and the location of the distance sensor. the straight-line distance between each other; the angle sensor 2 is used to collect the vertical angle between each measurement point and the position of the angle sensor; the camera equipment 3 is used to collect image information of the target rock mass; the fixed pan/tilt 4 is used to control the camera equipment 3 Rotate to obtain the image information collected by the camera equipment; the pan/tilt rotation dial 5 is used to obtain the angle between the plane projection direction of the first measurement equipment and the measurement point and the North Pole, which angle is between 0 and 360 degrees; electronic magnetic needle coordinate system calibration The dial 6 is used to determine the positive direction and the position of the far point of the three-dimensional coordinate system, and at the same time read the rotation angle of the pan/tilt. Before measuring the measurement point through the first measuring equipment, the pan-tilt needs to be fixed in a horizontal position through the level on the pan-tilt rotating dial 5 to ensure that the measured geometric parameter information can accurately determine the occurrence information of the target rock mass. . At the same time, the 0° direction of the electronic magnetic needle coordinate system calibration dial 6 should coincide with the North Pole direction before measuring geometric parameter information, and use an electronic compass for calibration to reduce equipment errors caused by the geomagnetic field and mineral magnetism. By adjusting the vertical deflection angle of the ranging sensor placed on the upper side of the camera and the horizontal deflection angle of the angle sensors placed on both sides of the camera, the distance between the center of the camera screen, the ranging sensor, the angle sensor and the measurement point is within 50 Within a range of meters, it is effective for cameras, ranging sensors and angle sensors to collect geometric parameter information, reducing measurement errors caused by the relative positions of the sensors. In the actual measurement process, the geological personnel need to manually move the fixed pan/tilt 4 to determine the location of the measurement point through the center position of the camera, thus avoiding interference from the harsh environment on the measurement process. For example, the harsh environment includes branches, leaves, weeds, View structural surface and failure surface, etc.

The second measurement device may be an unmanned aerial vehicle measurement device, and the plurality of measurement devices may be a ground close-up measurement system composed of multiple first measurement devices, or may be a ground close-up and aerial long-view measurement system composed of the first measurement device and the second measurement device. The measurement system can also be a fixed measurement system arranged on the tunnel boring machine in an equilateral triangle or matrix spatial position. The rock mass occurrence information measurement method in this application is suitable for measurement of joint structural surfaces of granite outcrops and limestone rock formations in the field. Outcrop occurrence, joint structural surface measurement, basalt columnar joint surface occurrence and joint development direction measurement, rock layer occurrence, interface measurement and soil layer interface measurement during tunnel construction, etc.

Specifically, multiple measuring devices with different orientations obtain the distance information between each measuring point and the ranging sensor through the internal ranging sensor, and obtain the vertical distance between each measuring point and the measuring device and the angle sensor through the internal angle sensor. angle to obtain the geometric parameter information of each measurement point.

S203: Determine the coordinate information of each measurement point in a three-dimensional coordinate system based on the geometric parameter information of each measurement point; the three-dimensional coordinate system is a coordinate system with the position of any one of the multiple measurement devices as the origin.

Specifically, the computer equipment can determine the measurement equipment of the origin in the three-dimensional coordinate system. The distance and angle parameters of the measurement point measured by the measurement equipment can be used to obtain the distance and angle parameters of the measurement point in the three-dimensional coordinate system based on the relevant calculation formulas of distance and angle. coordinate information. For other measuring equipment except the measuring equipment at the origin of the three-dimensional coordinate system, the computer equipment can calculate the distance and angle parameters of the measuring point measured by other measuring equipment according to the relevant calculation formulas of distance and angle, and calculate the distance between the measuring point and the measuring equipment. Relative coordinate information determines the coordinate information of the measurement point in the three-dimensional coordinate system based on the coordinate information of the measuring device in the three-dimensional coordinate system. For example, when there are two measuring devices, the two measuring devices are measuring device No. 1 and measuring device No. 2 respectively. The distance between measuring device No. 1 and measuring device No. 2 is 3 meters and the angle is 0 degrees; the target rock The body has two measurement points, the two measurement points are point A and point B respectively. The distance of point A measured by measuring equipment No. 1 is 5 meters and the angle is 90 degrees; the distance of point B measured by measuring equipment No. 2 is 4 meters. The angle is 0 degrees. Assume that the position of measuring equipment No. 1 is the origin of the three-dimensional coordinate system, then the coordinates of measuring equipment No. 1 in the three-dimensional coordinate system are (0, 0, 0), and the coordinates of measuring equipment No. 2 in the three-dimensional coordinate system are (3, 0, 0), it can be directly concluded that the coordinates of point A in the three-dimensional coordinate system are (0, 4, 0), the relative coordinates of point B and measuring equipment No. 2 are (4, 0, 0), and the coordinates of point B in the three-dimensional coordinate system are (4, 0, 0). The coordinates in the coordinate system are (7, 0, 0).

S204: Determine the occurrence information of the target rock mass based on the coordinate information of each measurement point in the three-dimensional coordinate system.

Among them, the occurrence refers to the state and orientation of the target rock mass in space. The occurrence information includes the trend, inclination and inclination of the target rock mass. Among them, the trend refers to the intersection of the rock layer and the horizontal plane of the target rock mass. Line, the direction pointed by both ends of the strike line is the direction of the rock layer of the target rock mass. The rock layer of the same target rock mass has two directions, which are 180° different from each other; the tendency refers to the direction of the rock layer of the target rock mass that is perpendicular to the trend line. The line is called the true dip line, and its projection on the horizontal plane and the direction of its downward slope along the plane is the inclination on the rock layer of the target rock mass; the dip angle refers to the true dip line on the rock layer of the target rock mass and its projection on the horizontal plane. The acute angle included is the inclination angle of the rock layer of the target rock mass.

Optionally, pre-train a neural network model based on historical coordinate information and historical occurrence information to obtain a preset neural network model. The computer equipment can input the coordinate information of each measurement point in the three-dimensional coordinate system into the preset neural network model, calculate the coordinate information of each measurement point in the three-dimensional coordinate system through the neural network model, and output the product of the target rock mass. status information. Optionally, the computer device connects the measurement points to obtain the plane corresponding to each measurement point, determines the outer normal of the plane corresponding to each measurement point through the right-hand screw rule, and correlates the outer normal of the plane with the occurrence information. The calculation formula calculates the occurrence information corresponding to the plane composed of each measurement point, and obtains the occurrence information of the target rock mass. This embodiment does not limit the method of determining the occurrence information of the target rock mass based on the coordinate information of each measurement point in the three-dimensional coordinate system.

In the above rock mass occurrence information measurement method, the method determines multiple measurement points on the target rock mass based on the location of the target rock mass, and obtains geometric parameter information of each measurement point through multiple measuring devices with different orientations; geometric parameter information Indicates the positional relationship between each measuring point and each measuring device. According to the geometric parameter information of each measuring point, determine the coordinate information of each measuring point in the three-dimensional coordinate system. According to the coordinate information of each measuring point in the three-dimensional coordinate system , determine the occurrence information of the target rock mass. The three-dimensional coordinate system in this method is a coordinate system with the position of any one of multiple measuring devices as the origin. Multiple measuring devices with different orientations can more accurately collect geometric parameter information of each measuring point, avoiding the need for The blind area of the measuring equipment cannot be collected, so that the coordinate information of each measuring point in the three-dimensional coordinate system can be accurately determined, and then the occurrence information of the target rock mass can be determined based on the coordinate information.

Optionally, the embodiment of the present application relates to an optional implementation method of determining multiple measurement points on the target rock mass. Based on the embodiment shown in Figure 2, the above method may include the following: select three non-collinear points from the structural surface according to the preset sequence to obtain three structural surface measurement points on the structural surface; and Select the upper and lower endpoints and the left and right endpoints on the joint to obtain four joint measurement points on the joint; the line connecting the upper and lower endpoints is perpendicular to the line connecting the left and right endpoints.

The preset order may be from top to bottom or from left to right. Structural surfaces refer to discontinuous surfaces with very low or no tensile strength, and joints refer to cracks or fissures formed in rocks under natural conditions.

Specifically, since at least three non-collinear points can determine a plane, the relevant information of the plane composed of three non-collinear points can determine the occurrence information of the structural plane of the target rock mass. Therefore, the computer equipment Three non-collinear points on the structural surface can be determined based on the picture of the structural surface of the target rock mass captured by the camera and combined with the actual structural surface of the target bunker. As shown in Figure 8, point A, point B and point C are three points. structural surface measurement points.

Further, it can be understood that the joint information includes the length and opening of the joint. In order to facilitate the calculation of the length and opening of the joint, when selecting the joint measurement point, the computer device should be based on the picture of the joint of the target rock mass taken by the camera. , select the upper and lower endpoints and the left and right endpoints of the joint as the measurement points of the joint, and the line connecting the upper and lower endpoints of the joint and the line connecting the left and right endpoints are perpendicular to each other, as shown in Figure 8, point D, point E, point F and point G is the four joint measurement points.

In the above rock mass occurrence information measurement method, this method selects three non-collinear points from the structural surface according to the preset order to obtain three structural surface measurement points on the structural surface; and selects the upper and lower endpoints and The left and right endpoints are used to obtain four joint measurement points on the joint; the line connecting the upper and lower endpoints is perpendicular to the line connecting the left and right endpoints. This method selects different numbers of measurement points for the structural planes and joints of the target rock mass, and can quickly and accurately measure the geometric parameter information of the structural planes and joints of the target rock mass through the minimum number of measurement points, improving the accuracy of the structural planes and joints. Efficiency of geometric parameter information measurement.

Optionally, this embodiment of the present application relates to an optional implementation method of determining the coordinate information of each measurement point in a three-dimensional coordinate system based on the geometric parameter information of each measurement point. Based on the embodiment shown in Figure 2, the above method may include the following: mapping the three structural surface measurement points into a three-dimensional coordinate system according to the geometric parameter information of the three structural surface measurement points, and determining the three structural surface measurement points. The coordinate information of the point in the three-dimensional coordinate system; and,

According to the geometric parameter information of the four joint measurement points, the four joint measurement points are mapped to the three-dimensional coordinate system, and the coordinate information of the four joint measurement points in the three-dimensional coordinate system is determined.

Specifically, the computer equipment can determine the position of each measuring device in the three-dimensional coordinate system, and then map the three structural surface measurement points and the four joint measurement points to the three-dimensional coordinate system, and obtain the corresponding measurement point based on each measuring device. distance and angle, construct a right-angled triangle, and obtain the relative coordinate information of each measuring point relative to the measuring device based on the calculation formulas of the sides and angles in the right-angled triangle. Through the coordinate information of the measuring equipment and the relative coordinate information of each measuring point with respect to the measuring equipment, three structural plane coordinate information and four joint coordinate information are determined.

For example, Figure 4 shows the coordinate information of the measuring point in the three-dimensional coordinate system. There are two measuring devices in the figure. Point O is the measuring device No. 1, point O' is the measuring device No. 2, and the coordinates corresponding to the measuring device No. 1 The information is (0, 0, 0). The straight-line distance between point X and measuring equipment No. 1 measured by measuring equipment No. 1 is L ₁ . The angle between the line connecting point , the angle between it and the plane yoz _is β, then _the coordinate _information of The straight-line distance from the No. 1 measuring device is L ₀ , the angle between the line connecting the No. 2 measuring device and the No. 1 measuring device and the plane xoy is β, and the angle between the line and the plane yoz is θ, then the relevant calculation formula of the right triangle is used The coordinate information of measuring equipment No. 2 can be obtained as (L ₀ cosθsinθ, L ₀ cosθcosθ, L ₀ sinθ). According to the above calculation method, the coordinate information of the three structural plane measurement points and the coordinate information of the four joint measurement points can be obtained.

In the above rock mass occurrence information measurement method, this method maps the three structural surface measurement points to the three-dimensional coordinate system based on the geometric parameter information of the three structural surface measurement points, and determines the location of the three structural surface measurement points in the three-dimensional coordinate system. The coordinate information of the four joint measurement points is mapped to the three-dimensional coordinate system according to the geometric parameter information of the four joint measurement points, and the coordinate information of the four joint measurement points in the three-dimensional coordinate system is determined. This method can accurately determine the coordinate information of the measurement points in the three-dimensional coordinate system by mapping the measurement points to the three-dimensional coordinate system and through the geometric parameter information of each measurement point.

Figure 5 is a schematic flow chart of a rock mass occurrence information measurement method provided by an embodiment of the present application. The embodiment of the present application relates to a method of mapping the three structural surface measurement points into a three-dimensional coordinate system based on the geometric parameter information of the three structural surface measurement points, and determining the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system. The chosen implementation method. Based on the above embodiments, as shown in Figure 5, the above method may include the following steps:

S501. Determine the first relative coordinate information between the three structural surface measurement points and the positions of each measuring equipment based on the geometric parameter information between the three structural surface measurement points and the positions of each measuring equipment.

Specifically, the computer device can determine the position of each measuring device in the three-dimensional coordinate system, and then map the three structural plane measurement points to the three-dimensional coordinate system. According to each measuring device, the distance and angle of the corresponding measurement point are obtained to construct Right-angled triangle, according to the calculation formula of the sides and angles in the right-angled triangle, the relative coordinate information of each measuring point relative to the measuring equipment is obtained.

S502: Determine the coordinate information of the three structural plane measurement points in the three-dimensional coordinate system based on the coordinate information of each measurement point in the three-dimensional coordinate system and the first relative coordinate information.

Specifically, the computer device calculates the coordinate information of the measuring equipment and the relative coordinate information of each measuring point with respect to the measuring equipment, and determines the coordinate information of the three structural surface measuring points in the three-dimensional coordinate system. For example: the coordinates of measuring equipment No. 2 in the three-dimensional coordinate system are (3, 0, 0), the relative coordinates of point B and measuring equipment No. 2 are (4, 0, 0), and the coordinates of point B in the three-dimensional coordinate system is (7, 0, 0).

In the above rock mass occurrence information measurement method, the method determines the first relative coordinates between the three structural plane measurement points and the positions of each measuring equipment based on the geometric parameter information between the three structural plane measurement points and the positions of each measuring equipment. Information, based on the coordinate information of each measurement point in the three-dimensional coordinate system and the first relative coordinate information, determine the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system. This method can quickly obtain the relative coordinate information of the measurement point relative to the measurement equipment through the parameter information of the measurement points collected by each measurement equipment. Based on the relative coordinate information, the three structural plane measurement points can be quickly determined in the three-dimensional coordinate system. coordinate information.

Figure 6 is a schematic flow chart of a rock mass occurrence information measurement method provided by an embodiment of the present application. The embodiment of the present application relates to an optional implementation of mapping the four joint measurement points into a three-dimensional coordinate system and determining the coordinate information of the four joint measurement points in the three-dimensional coordinate system based on the geometric parameter information of the four joint measurement points. Way. Based on the above embodiments, as shown in Figure 6, the above method may include the following steps:

S601. Determine second relative coordinate information between the four joint measurement points and the positions of each measuring equipment based on the geometric parameter information between the four joint measurement points and the positions of each measuring equipment.

Specifically, the computer device can determine the position of each measuring device in the three-dimensional coordinate system, and then map the four joint measurement points to the three-dimensional coordinate system. According to the distance and angle of the corresponding measuring point obtained by each measuring device, a right angle can be constructed. Triangle, according to the calculation formula of the sides and angles in the right triangle, the relative coordinate information of the four joint measurement points relative to the measurement equipment is obtained.

S602: Determine the coordinate information of the four joint measurement points in the three-dimensional coordinate system based on the coordinate information of each measurement point in the three-dimensional coordinate system and the second relative coordinate information.

Specifically, the computer device calculates the coordinate information of the measuring equipment and the relative coordinate information of each measuring point with respect to the measuring equipment, and determines the coordinate information of the four joint measuring points in the three-dimensional coordinate system. For example: the coordinates of measuring equipment No. 3 in the three-dimensional coordinate system are (0, 5, 0), the relative coordinates of point C and measuring equipment No. 3 are (2, 3, 0), and the coordinates of point C in the three-dimensional coordinate system is (2, 8, 0).

In the above rock mass occurrence information measuring method, the method determines the second relative coordinate information between the four joint measuring points and the positions of each measuring equipment based on the geometric parameter information between the four joint measuring points and the positions of each measuring equipment, According to the coordinate information of each measurement point in the three-dimensional coordinate system and the second relative coordinate information, the coordinate information of the four joint measurement points in the three-dimensional coordinate system is determined. This method can quickly obtain the relative coordinate information of the measurement point relative to the measurement equipment through the parameter information of the measurement points collected by each measurement equipment. Based on the relative coordinate information, the position of the four joint measurement points in the three-dimensional coordinate system can be quickly determined. coordinate information.

Optionally, this embodiment of the present application relates to an optional implementation method of determining the occurrence information of the target rock mass based on the coordinate information of each measurement point in the three-dimensional coordinate system. Based on the above embodiments, the above method may include the following content: obtaining the first plane to be measured composed of three structural plane measurement points, and calculating the first plane to be measured and the three structural plane measurement points in the three-dimensional coordinate system coordinate information to determine the origin information of the structural plane; and, obtain the second plane to be measured composed of the four joint measurement points, and obtain the second plane to be measured based on the second plane to be measured and the combination of the four joint measurement points. , determine the occurrence information of joints.

Among them, the occurrence information of the structural surface includes the inclination angle, inclination angle and strike angle of the structural surface, and the occurrence information of the joints includes the inclination angle, inclination angle, strike angle, length and opening of the joint.

Specifically, the computer device can connect the joint measurement points and the structural surface measurement points to obtain the second to-be-measured plane corresponding to the joint and the first to-be-measured plane corresponding to the structural surface. According to the first to-be-measured plane and the second to-be-measured plane The relevant calculation formulas of the external normal vector of the plane, the external normal vector and the inclination angle, inclination angle and strike angle can be used to obtain the inclination angle, inclination angle and strike angle of the structural surface and joints. According to the coordinates of the four joint measurement points in the three-dimensional coordinate system, the length and opening of the joint are obtained.

In the above rock mass occurrence information measurement method, the method obtains the first plane to be measured composed of three structural plane measurement points, and based on the coordinate information of the first plane to be measured and the three structural plane measurement points in the three-dimensional coordinate system , determine the occurrence information of the structural surface, and obtain the second plane to be measured composed of four joint measurement points, and determine the joints based on the second plane to be measured and the second plane to be measured composed of the four joint measurement points. Occurrence information. This method can accurately obtain the occurrence information of the structural surface and the occurrence information of the joints through the plane composed of the structural surface measurement points and the joint measurement points.

Figure 7 is a schematic flow chart of a method for measuring rock mass occurrence information provided by an embodiment of the present application. The embodiment of the present application involves obtaining the first plane to be measured composed of three structural plane measurement points, and determining the occurrence of the structural plane based on the coordinate information of the first plane to be measured and the three structural plane measurement points in the three-dimensional coordinate system. An optional implementation of information. Based on the above embodiments, as shown in Figure 7, the above method may include the following steps:

S701, connect the three structural plane measurement points to obtain the first plane to be measured.

Specifically, the computer equipment can connect the beginning and end of the three structural surface measurement points according to the order of selecting the three structural surface measurement points, obtain the triangular plane corresponding to the three structural surface measurement points, and determine the triangular plane as the first The plane to be measured.

For example, as shown in Figure 8, points A, B, and C in the figure represent three structural plane measurement points. Connect the three points A, B, and C in sequence to obtain triangle ABC. The triangle ABC is determined as The first plane to be measured.

S702. Determine the first outer normal vector of the first plane to be measured.

Among them, the outer normal refers to the positive direction of the normal that points from the inside of the solid to the outside, that is, the outer normal.

Specifically, the computer device can use the vector cross product rule to determine the size of the external normal vector of the first plane to be measured, determine the direction of the external normal vector of the first plane to be measured through the right-hand rule, and obtain the third value of the first plane to be measured. An outer normal vector. As shown in Figure 8, the first plane to be measured is triangle ABC, and the calculation formula of the outer normal of triangle ABC can be expressed as

S703: Determine the occurrence information of the structural surface based on the first outer normal vector and the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system; the occurrence information includes the inclination angle, inclination angle and strike angle of the structural surface.

Among them, the inclination angle of the structural plane is the acute angle between the true inclination line on the structural plane of the target rock mass and its projection on the horizontal plane, which is the inclination angle of the structural plane of the target rock mass; the inclination angle of the structural plane is the structural plane of the target rock mass. The line perpendicular to the strike line is called the true dip line. Its projection on the horizontal plane and the direction of the downward slope along the plane is the inclination of the structural surface of the target rock mass; the strike angle of the structural surface is the relationship between the structural surface of the target rock mass and The intersection line of the horizontal plane is the strike line, and the directions pointed by both ends of the strike line are the directions of the structural planes of the target rock mass. The structural planes of the same target rock mass have two directions, which are 180° different from each other.

Specifically, the computer device can obtain the inclination angle of the structural surface based on the first external normal vector, the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system and the relevant formula of the inclination angle; according to the first external normal vector, The coordinate information of the three structural surface measurement points in the three-dimensional coordinate system and the related formula of the inclination angle are used to obtain the inclination angle of the structural surface; according to the first outer normal vector, the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system and the strike angle-related formulas to obtain the strike angle of the structural surface, and determine the obtained inclination angle, inclination angle and strike angle of the structural surface as the occurrence information of the structural surface. In Figure 8, the normal vector outside the plane xoy in the three-dimensional coordinate system Plane xoz outer normal vector/> Plane yoz outer normal vector/> The transformation matrix M can be expressed as:

The calculation formula for the inclination angle of plane ABC can be expressed as:

The calculation formula for the inclination angle of plane ABC can be expressed as:

The calculation formula of the strike angle of plane ABC can be expressed as:

γ＝90°±δ

In the above rock mass occurrence information measurement method, the method obtains the first plane to be measured by connecting three structural plane measurement points, determines the first outer normal vector of the first plane to be measured, and determines the first outer normal vector of the first plane to be measured. The normal vector and the coordinate information of the three structural plane measurement points in the three-dimensional coordinate system determine the occurrence information of the structural plane. The occurrence information in this method includes the inclination angle, inclination angle and strike angle of the structural surface. The first plane to be measured is composed of three structural surface measurement points. The occurrence information of the structural surface can be accurately obtained according to the first plane to be measured. .

Figure 9 is a schematic flow chart of a rock mass occurrence information measurement method provided by an embodiment of the present application. Embodiments of the present application relate to a method of obtaining a second plane to be measured composed of four joint measurement points, and determining the occurrence information of joints based on the second plane to be measured and the second plane to be measured composed of four joint measurement points. An optional implementation method. Based on the above embodiments, as shown in Figure 9, the above method may include the following steps:

S901, connect the four joint measurement points to obtain the second plane to be measured.

Specifically, the computer device can connect four joint measurement points to obtain a rectangular plane corresponding to the four joint measurement points, and determine the rectangular plane as the second plane to be measured.

For example, as shown in Figure 8, points E, F, G, and D in the figure represent four joint measurement points. Connect the three points E, F, G, and D in sequence to obtain a rectangle EFGD. EFGD is determined as the second plane to be measured.

S902. Determine the second outer normal vector of the second plane to be measured.

Specifically, the computer device can use the vector cross product method to determine the size of the external normal vector of the second plane to be measured, determine the direction of the external normal vector of the second plane to be measured through the right-hand rule, and obtain the third value of the second plane to be measured. Two outer normal vectors. As shown in Figure 8, the second plane to be measured is a rectangular EFGD.

S903, determine the occurrence information of the joint based on the second plane to be measured composed of the second outer normal vector and the four joint measurement points; the occurrence information includes the inclination angle, inclination angle, strike angle, length and opening of the joint .

Among them, the inclination angle of a joint refers to the acute angle between the true inclination line on the joint surface and its projection on the horizontal plane. The line perpendicular to the strike line on the joint surface is called the true inclination line, and its projection on the horizontal plane is along the The direction in which the plane tilts downward is the inclination angle of the joint; the trend angle of the joint means that the intersection of the joint plane and the horizontal plane is the trend line, and the directions pointed by both ends of the trend line are the extension directions of the joints. The same joint surface has two directions. They are 180° different from each other; the length of the joint refers to the trace length of the joint surface on the exposed surface of the rock mass; the opening of the joint refers to the vertical distance between the two ends of the crack.

Specifically, the computer device can obtain the inclination angle of the joint based on the second outer normal vector, the coordinate information of the four joint measurement points in the three-dimensional coordinate system and the related formulas of the inclination angle; according to the second outer normal vector, the four joint measurement points The coordinate information of the joint measurement point in the three-dimensional coordinate system and the correlation formula of the inclination angle are used to obtain the inclination angle of the joint; according to the correlation between the second outer normal vector, the coordinate information of the four joint measurement points in the three-dimensional coordinate system and the strike angle formula, the trend angle of the joint is obtained; according to the geometric parameter information of the four joint measurement points, the length and opening of the joint are determined, and the obtained inclination angle, inclination angle, strike angle, length and opening of the joint are determined as the origin of the joint. status information. In Figure 8, the calculation formula of joint length ED can be expressed as:

The calculation formula of the joint opening FG can be expressed as:

In the above rock mass occurrence information measurement method, four joint measurement points are connected to obtain the second plane to be measured, and the second outer normal vector of the second plane to be measured is determined. According to the sum of the second outer normal vector and The second plane to be measured formed by the combination of four joint measurement points determines the occurrence information of the joints. The occurrence information in this method includes the inclination angle, inclination angle, strike angle, length and opening of the joint. Through the second plane to be measured composed of four joint measurement points, the joint's shape can be accurately obtained based on the second plane to be measured. Occurrence information.

In one embodiment, in order to facilitate the understanding of those skilled in the art, the rock mass occurrence information measurement method is introduced in detail below. As shown in Figure 10, the method may include:

S1001, according to the preset sequence, select three non-collinear points from the structural surface to obtain three structural surface measurement points on the structural surface;

S1002, select the upper and lower endpoints and the left and right endpoints from the joint to obtain four joint measurement points on the joint;

S1003, obtain the geometric parameter information of each measurement point through multiple measurement devices with different orientations;

S1004. Determine the first relative coordinate information between the three structural plane measurement points and the positions of each measuring equipment based on the geometric parameter information between the three structural plane measurement points and the positions of each measuring equipment;

S1005, determine the coordinate information of the three structural plane measurement points in the three-dimensional coordinate system based on the coordinate information of each measurement point in the three-dimensional coordinate system and the first relative coordinate information;

S1006, connect the three structural plane measurement points to obtain the first plane to be measured;

S1007, determine the first outer normal vector of the first plane to be measured;

S1008, determine the origin information of the structural surface based on the first outer normal vector and the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system;

S1009: Determine the second relative coordinate information between the four joint measurement points and the positions of each measuring equipment based on the geometric parameter information between the four joint measurement points and the positions of each measuring equipment;

S1010, determine the coordinate information of the four joint measurement points in the three-dimensional coordinate system based on the coordinate information of each measurement point in the three-dimensional coordinate system and the second relative coordinate information;

S1011, connect the four joint measurement points to obtain the second plane to be measured;

S1012, determine the second outer normal vector of the second plane to be measured;

S1013, determine the occurrence information of the joint based on the second plane to be measured composed of the second outer normal vector and the four joint measurement points; the occurrence information includes the inclination angle, inclination angle, strike angle, length and opening of the joint .

It should be noted that for the description of the above S1001-S1013, please refer to the relevant description in the above embodiment, and the effects are similar, so this embodiment will not be repeated here.

Further, it can be understood that Figure 11 is a rock mass occurrence information measurement system composed of multiple measurement equipment. No. 1 and No. 2 in the figure are two ground measurement equipment, No. 3 is a UAV measurement equipment, and No. 4 No. 1 is a jointed rock mass. The jointed rock mass is measured through No. 1, No. 2 and No. 3 equipment to obtain information on the structural planes and occurrence of joints in the jointed rock mass. Specifically, during the implementation process, the left and right edges of the measurement window are first used as the reference position of the fixed ground close-up shooting measurement equipment, and then the focal length of the camera is adjusted to ensure that the ground monocular measurement equipment can cover all image information of the measurement window within the field of view. , and the close-up of the joint or structural surface to be measured is clear enough. Then fix the ground close-up shooting measurement equipment and establish a three-dimensional coordinate system. Then fix the measuring tape on the bottom of the drone to measure the trace length of joints and cracks and the vertical height of the measurement surface. The geological personnel control the drone to move to a fixed position, ensure that the tape measure covers the surface of joints and fissures, and use the camera to take readings. Secondly, use the fixed pan-tilt mobile camera to determine the structural surface or joint surface that needs to be measured, select the point to be measured on the determined structural surface and joint surface, and collect the geometric parameter information of the measurement point through the ranging sensor and angle sensor, and obtain Geometric parameter information of each measurement point. Finally, the collected geometric parameter information is calculated according to the jointed rock mass structural plane and joint occurrence calculation method to obtain joint occurrence information and joint occurrence information.

Figure 12 is a plane structure diagram of the tunnel boring machine measurement. No. 1 in the picture is the measuring equipment, No. 2 is the equipment of the tunnel boring machine, and No. 3 is the blade on the tunnel boring machine. By setting four measuring devices on the tunnel boring machine, the measurement equipment can The rock mass in front of the tunnel boring machine is measured to ensure the safe operation of the tunnel boring machine. Since the tunnel boring machine body and the working surface always maintain a parallel relationship, there is no need to obtain attitude information from the measuring device. Although the tunnel boring machine is in a constant moving state, the moving speed of the tunnel boring machine is extremely slow, which is negligible compared to the time required for measurement. Therefore, multiple measuring devices are used to measure the jointed rock mass on the tunnel face during the movement of the tunnel boring machine. The structural surface occurrence information is automatically measured, and the entire process does not require manual participation. During the measurement process, the measuring equipment is installed at the edge of the rotating body of the tunnel boring machine according to the distribution relationship of the four corners of the square to avoid the damaging effects of the strong friction between the knife edge and the working surface on the multi-eye measuring device. Then, the operator manually selects the jointed rock mass surface to be measured on the tunnel face that needs to be measured, and uses multi-angle measuring equipment to obtain the geometric parameter information of the surface to be measured. Finally, the collected geometric parameter information is obtained according to the joint rock mass structural plane occurrence calculation method to obtain the structural plane occurrence information to be measured and the joint occurrence information to be measured.

In the above rock mass occurrence information measurement method, according to the preset sequence, three non-collinear points are selected from the structural surface to obtain three structural surface measurement points on the structural surface, and the upper and lower endpoints and left and right endpoints are selected from the joints. Four joint measurement points on the joints are obtained, and the geometric parameter information of each measurement point is obtained through multiple measurement equipment in different directions. Based on the geometric parameter information between the three structural surface measurement points and the positions of each measurement equipment, the three structures are determined. The first relative coordinate information between the surface measurement point and the position of each measuring equipment is used to determine the coordinates of the three structural surface measurement points in the three-dimensional coordinate system based on the coordinate information of each measurement point in the three-dimensional coordinate system and the first relative coordinate information. information, connect the three structural surface measurement points to obtain the first plane to be measured, determine the first external normal vector of the first plane to be measured, and determine the first external normal vector and the three structural surface measurement points in The coordinate information in the three-dimensional coordinate system determines the occurrence information of the structural surface. The occurrence information includes the inclination angle, inclination angle and strike angle of the structural surface. According to the geometric parameters between the four joint measurement points and the positions of each measuring equipment information, determine the second relative coordinate information between the four joint measurement points and the positions of each measuring equipment, and determine the three-dimensional coordinate information of the four joint measurement points based on the coordinate information of each measurement point in the three-dimensional coordinate system and the second relative coordinate information. coordinate information under the system, connect the four joint measurement points to obtain the second plane to be measured, determine the second outer normal vector of the second plane to be measured, and measure according to the second outer normal vector and the four joints The second plane to be measured formed by the combination of points determines the occurrence information of the joint. The occurrence information includes the inclination angle, inclination angle, strike angle, length and opening of the joint. This method can more accurately collect the geometric parameter information of each measurement point through multiple measurement equipment with different orientations, avoiding the situation where the blind area of the measurement equipment cannot be collected. By mapping the positions of multiple measurement equipment into a three-dimensional coordinate system, The coordinate information of each measurement point in the three-dimensional coordinate system can be accurately determined, and then the structural plane occurrence information and joint occurrence information of the target rock mass can be determined based on the coordinate information; and, compared with the existing technology, through manual or As for the measurement method of 3D laser scanner, it can reduce the measurement cost, improve the measurement accuracy, improve the measurement efficiency of rock mass occurrence information, and at the same time avoid the harsh environment of jointed rock mass from causing harm to geological personnel.

It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

Based on the same inventive concept, embodiments of the present application also provide a rock mass occurrence information measurement device for implementing the above-mentioned rock mass occurrence information measurement method. The solution to the problem provided by this device is similar to the solution recorded in the above method. Therefore, the specific limitations in the embodiments of one or more rock mass occurrence information measurement devices provided below can be found in the above article on rock mass occurrence information. The limitations of the measurement method of birth status information will not be repeated here.

In one embodiment, as shown in Figure 13, a rock mass occurrence information measurement device is provided, including: a first determination module, an acquisition module, a second determination module and a third determination module, wherein:

The first determination module is used to determine multiple measurement points on the target rock mass according to the location of the target rock mass;

The acquisition module is used to obtain the geometric parameter information of each measuring point through multiple measuring devices; the geometric parameter information represents the positional relationship between each measuring point and each measuring device;

Optionally, the plurality of measuring devices include a first measuring device and a second measuring device. The first measuring device is set below the target rock mass; and the second measuring device is set above the target rock mass. Among them: the first measurement device at least includes: a distance sensor, an angle sensor and a camera device; the distance between the camera device and the distance sensor and the angle sensor is less than the preset threshold; the distance sensor is used to collect each measurement point and the measurement data. The straight-line distance from the location of the sensor; the angle sensor, used to collect the vertical angle between each measurement point and the location of the angle sensor; the camera equipment, used to collect image information of the target rock mass.

The second determination module is used to determine the coordinate information of each measurement point in the three-dimensional coordinate system based on the geometric parameter information of each measurement point; the three-dimensional coordinate system takes the position of any one of the measurement equipment as the origin;

The third determination module is used to determine the occurrence information of the target rock mass based on the coordinate information of each measurement point in the three-dimensional coordinate system.

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

In one embodiment, the above-mentioned first determination module includes: a first determination unit and a second determination unit, wherein:

The first determination unit is used to select three non-collinear points from the structural surface according to the preset order to obtain three structural surface measurement points on the structural surface;

The second determination unit is used to select the upper and lower endpoints and the left and right endpoints from the joint to obtain four joint measurement points on the joint; the line connecting the upper and lower endpoints is perpendicular to the line connecting the left and right endpoints.

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

In one embodiment, the above-mentioned second determination module includes: a third determination unit and a fourth determination unit, wherein:

The third determination unit is used to map the three structural surface measurement points to the three-dimensional coordinate system based on the geometric parameter information of the three structural surface measurement points, and determine the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system;

The fourth determination unit is used to map the four joint measurement points to the three-dimensional coordinate system based on the geometric parameter information of the four joint measurement points, and determine the coordinate information of the four joint measurement points in the three-dimensional coordinate system.

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

Optionally, the above-mentioned third determination unit is specifically configured to determine the first relative coordinates between the three structural surface measurement points and the positions of each measuring equipment based on the geometric parameter information between the three structural surface measurement points and the positions of each measuring equipment. Information; determine the coordinate information of the three structural plane measurement points in the three-dimensional coordinate system based on the coordinate information of each measurement point in the three-dimensional coordinate system and the first relative coordinate information.

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

Optionally, the above-mentioned fourth determination unit is specifically configured to determine the second relative coordinate information between the four joint measurement points and the positions of each measuring equipment based on the geometric parameter information between the four joint measurement points and the positions of each measuring equipment; According to the coordinate information of each measurement point in the three-dimensional coordinate system and the second relative coordinate information, the coordinate information of the four joint measurement points in the three-dimensional coordinate system is determined.

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

In one embodiment, the above-mentioned third determination module includes: a fifth determination unit and a sixth determination unit, wherein:

The fifth determination unit is used to obtain the first plane to be measured composed of the three structural plane measurement points, and determine the structural plane based on the coordinate information of the first plane to be measured and the three structural plane measurement points in the three-dimensional coordinate system. birth status information;

The sixth determination unit is used to obtain the second plane to be measured composed of four joint measurement points, and determine the occurrence information of the joint based on the second plane to be measured and the second plane to be measured composed of the four joint measurement points. .

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

Optionally, the above-mentioned fifth determination unit is specifically used to perform a line operation on three structural surface measurement points to obtain the first plane to be measured; determine the first external normal vector of the first plane to be measured; according to the first external method The line vector and the coordinate information of the three structural surface measurement points in the three-dimensional coordinate system determine the occurrence information of the structural surface; the occurrence information includes the inclination angle, inclination angle and strike angle of the structural surface.

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

Optionally, the above-mentioned sixth determination unit is specifically used to connect four joint measurement points to obtain the second plane to be measured; determine the second outer normal vector of the second plane to be measured; and determine the second outer normal vector of the second plane to be measured; The vector and the second plane to be measured are combined with the four joint measurement points to determine the occurrence information of the joint; the occurrence information includes the inclination angle, inclination angle, strike angle, length and opening of the joint.

The rock mass occurrence information measurement device provided in this embodiment can execute the above method embodiments. Its implementation principles and technical effects are similar and will not be described again here.

Each module in the above-mentioned rock mass occurrence information measurement device can be realized in whole or in part by software, hardware and their combination. Each of the above modules may be embedded in or independent of the processor of the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in Figure 14. The computer device includes a processor, memory, and network interfaces connected through a system bus. Wherein, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage medium stores operating systems, computer programs and databases. This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media. The database of the computer equipment is used to store measurement data of rock mass occurrence information. The network interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, a rock mass occurrence information measurement method is implemented.

Those skilled in the art can understand that the structure shown in Figure 14 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Specific computer equipment can May include more or fewer parts than shown, or combine certain parts, or have a different arrangement of parts.

In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, all contents in the above method embodiments are implemented.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, all contents in the above method embodiments are implemented.

In one embodiment, a computer program product is provided, including a computer program that implements all the contents in the above method embodiments when executed by a processor.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all It is information and data authorized by the user or fully authorized by all parties.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. , when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random) Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include blockchain-based distributed databases, etc., but are not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to this.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.

The above embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims (10)

1. A method of measuring rock mass production information, the method comprising:

determining position information of a target rock mass by a center position of an image pickup device of a first measuring device among the plurality of measuring devices; the target rock mass comprises a structural surface and joints;

based on the position information of the target rock mass, determining the shape and the size of the target rock mass by utilizing images of the target rock mass at different angles acquired by the image pickup equipment, and determining a plurality of measuring points on the target rock mass according to the shape and the size of the target rock mass;

Adjusting a level on a tripod head rotating dial in each first measuring device to fix a fixed tripod head in each first measuring device in a horizontal position; and adjusting the 0 DEG direction of the electronic magnetic needle coordinate system calibration dial in the first measuring equipment to coincide with the north pole direction; and adjusting the angle of vertical deflection of the ranging sensor and the angle of horizontal deflection of the angle sensor in each first measuring device; and adjusting the screen center position of the image pickup device in each first measuring device, the distance between the distance measuring sensor and each measuring point, and the distance between the angle measuring sensor and each measuring point to be smaller than a preset distance; the distance between the imaging equipment in each first measuring equipment and the ranging sensor and the distance between the imaging equipment in each first measuring equipment and the angle sensor are respectively smaller than a preset threshold value;

acquiring distance information between each measuring point and a ranging sensor through the adjusted ranging sensor in each first measuring device and a second measuring device in a plurality of measuring devices, acquiring a vertical included angle between each measuring point and the angle sensor through the adjusted angle sensor in each first measuring device and the second measuring device, and determining the distance information and the vertical included angle as geometric parameter information of each measuring point; the geometric parameter information represents the position relation between each measuring point and each measuring device; the first measuring equipment is arranged below the target rock mass, and the second measuring equipment is arranged above the target rock mass;

According to the geometric parameter information of each measuring point, determining coordinate information of each measuring point in a three-dimensional coordinate system; the three-dimensional coordinate system is a coordinate system taking the position of any one of the plurality of measuring devices as an origin;

and determining the occurrence information of the target rock mass according to the coordinate information of each measuring point in the three-dimensional coordinate system.

2. The method of claim 1, wherein the target rock mass includes a structural face and joints, and wherein the determining a plurality of measurement points on the target rock mass comprises:

according to a preset sequence, three non-collinear points are selected from the structural surface, and three structural surface measuring points on the structural surface are obtained; selecting an upper endpoint, a lower endpoint, a left endpoint and a right endpoint from the joint to obtain four joint measurement points on the joint; the connecting lines of the upper end points and the lower end points are perpendicular to the connecting lines of the left end points and the right end points.

3. The method according to claim 2, wherein the predetermined order is a top-to-bottom order or a left-to-right order.

4. The method according to claim 2, wherein determining coordinate information of each measurement point in the three-dimensional coordinate system based on geometric parameter information of each measurement point comprises:

According to the geometric parameter information of the three structural plane measuring points, mapping the three structural plane measuring points into the three-dimensional coordinate system, and determining coordinate information of the three structural plane measuring points in the three-dimensional coordinate system; the method comprises the steps of,

and mapping the four joint measurement points into the three-dimensional coordinate system according to the geometric parameter information of the four joint measurement points, and determining the coordinate information of the four joint measurement points in the three-dimensional coordinate system.

5. The method of claim 4, wherein mapping the three structural plane measurement points into the three-dimensional coordinate system based on geometric parameter information of the three structural plane measurement points, determining coordinate information of the three structural plane measurement points in the three-dimensional coordinate system, comprises:

determining first relative coordinate information between the three structural plane measurement points and the positions of the measuring equipment according to the geometric parameter information between the three structural plane measurement points and the positions of the measuring equipment;

and determining coordinate information of the three structural surface measuring points in the three-dimensional coordinate system according to the coordinate information of each measuring point in the three-dimensional coordinate system and the first relative coordinate information.

6. The method of claim 4, wherein mapping the four joint measurement points into the three-dimensional coordinate system based on the geometric parameter information of the four joint measurement points, determining coordinate information of the four joint measurement points in the three-dimensional coordinate system, comprises:

determining second relative coordinate information between the four joint measurement points and the positions of the measuring equipment according to the geometric parameter information between the four joint measurement points and the positions of the measuring equipment;

and determining the coordinate information of the four joint measurement points in the three-dimensional coordinate system according to the coordinate information of each measurement point in the three-dimensional coordinate system and the second relative coordinate information.

7. The method according to any one of claims 4-6, wherein determining the production information of the target rock mass from the coordinate information of each of the measurement points in the three-dimensional coordinate system comprises:

acquiring a first plane to be detected formed by combining the three structural surface measuring points, and determining the occurrence information of the structural surface according to the coordinate information of the first plane to be detected and the three structural surface measuring points in the three-dimensional coordinate system; the method comprises the steps of,

And acquiring a second plane to be measured formed by combining the four joint measurement points, and determining the occurrence information of the joint according to the second plane to be measured and the second plane to be measured formed by combining the four joint measurement points.

8. The method of claim 7, wherein the obtaining a first plane to be measured formed by combining the three structural plane measurement points, and determining the occurrence information of the structural plane according to the coordinate information of the first plane to be measured and the three structural plane measurement points in the three-dimensional coordinate system, comprises:

carrying out connection operation on the three structural surface measurement points to obtain the first plane to be measured;

determining a first external normal vector of the first plane to be measured;

determining the occurrence information of the structural surface according to the first external normal vector and the coordinate information of the three structural surface measuring points in the three-dimensional coordinate system; the attitude information includes the inclination angle, the inclination angle and the strike angle of the structural face.

9. The method of claim 7, wherein the obtaining a second plane to be measured formed by combining the four joint measurement points, and determining the occurrence information of the joint according to the second plane to be measured formed by combining the second plane to be measured and the four joint measurement points, comprises:

Performing connection operation on the four joint measurement points to obtain the second plane to be measured;

determining a second external normal vector of the second plane to be measured;

determining the occurrence information of the joint according to a second plane to be detected formed by combining the second external normal vector and the four joint measurement points; the occurrence information includes inclination angle, trend angle, length and opening degree of the joint.

10. The method of any one of claims 1-6, wherein determining the shape and size of the target rock mass using images of the target rock mass at different angles acquired by the imaging device comprises:

fusing the images of the target rock mass at different angles to obtain a panoramic image of the target rock mass;

based on the panoramic image of the target rock mass, a shape and a size of the target rock mass are determined.